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On Dreams and TimingYoram Koren

James J. Duderstadt Distinguished University Professor of Manufacturing

College of Engineering, The University of Michigan, Ann Arbor

The world of manufacturing has changed dramatically in the past thirty years and

Professor Koren has been in the forefront of that change. U-M Provost Phil Hanlon, March 27, 2012

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Established the first NSF-sponsored Engineering Research Center (ERC/RMS)at the University of Michigan a major milestone in the College 150-year historyMember of the National Academy of EngineeringDistinguished University ProfessorFellow of ASME, SME, IEEE, and CIRP

Korens Impact a Profile

4 Original books, translations into Japanese, French and Chinese

14 Patents

300 Published Papers16,000 Citations to Korens papers (per Google Scholar)

27 Papers with more than 100 citations each

53 h index

50 Graduate students

$50M Received and managed in grants and contracts

Engineering is what enables you to realize your DREAMS about innovations that can benefit people, society and theeconomy. But for dreams to be realized they must be based on actual engineering foundations and pursued at theappropriate time. Some call this luck. We call it timing.

A good example is the establishment, in 1996, of the University of Michigan Engineering Research Center forReconfigurable Manufacturing Systems (ERC/RMS), sponsored by the National Science Foundation. The mandateof NSF-supported ERCs is to explore a field relevant to industry success. Hence, industrial support is an importantfactor in establishing a prestigious center.

NSF regards our ERC-RMS as one of its most successful centers, partly due to the generous financial supportreceived from industry, more than any other NSF-sponsored ERC. Most of this industrial funding came from the Big-Three auto makers. From 1996 to 2007 these companies provided us generous financial support. But just suppose wehad tried to found such a center in 2008, when the auto industry was in crisis. Even if you do exactly the same thing,it is circumstances that determine whether you succeed or fail. TIMING IS EVERYTHING.



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A 21st Century

manufacturing enterprise

must be based on

High Product Quality,

Low Cost,

and Rapid Responsiveness

that are grounded on

six RMS characteristics,

first defined by Yoram Korenin 1995.

In the early 1990s Professor Koren predicted that globalization would become a major factor in industrialcompetition, making the ability to respond rapidly to changing markets a vital goal for industry. Hence, Korenadded Responsiveness to the traditional goals of Low Cost and High Quality products. In 1995 he submitted to NSFa proposal to establish an Engineering Research Center for Reconfigurable Manufacturing Systems that are designedto be responsive to market changes.

Reconfigurable Manufacturing Systems

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The NSF-sponsored ERC for Reconfigurable Manufacturing Systems was launched on August 1, 1996. It was thefirst NSF-sponsored ERC at the University of Michigan. The RMS science base was developed according to six RMScharacteristics defined as essential for achieving the goals of responsiveness, cost and quality.

A responsive manufacturing system must be designed for volume scalability that allows the production capacity to berapidly scalable to produce more products exactly when the market needs them. The system must be easilyconvertible from one product to another that customers like more.A system with in-line diagnosibility facilitates rapid ramp-up (which enhances responsiveness and reduces cost) andproduces good quality products. To achieve in-line diagnosibility, we developed a method, software, and hardwarethe RIM (reconfigurable inspection machine) that can detect, for example, surface pores on engine blocks, asexplained on the next page.-

The ERC/RMS has worked with its partners to move research and innovations from the

testbeds to adoption by industry . the NSF final report (May, 2007)


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Three major U.S. patents, all invented by Koren, define the RMS paradigm:The whole reconfigurable system, the in-line inspection machine andmethod, and the Reconfigurable Machine Tool (RMT). At the InternationalManufacturing Technology Show (IMTS) in Chicago in 2002, the ERC/RMSintroduced the world's first full-scale Reconfigurable Machine Tool based onKorens 1999 patent and his conceptual design.

Koren is the co-inventor (withS. Seagall) of the Cylinder-BoreInspection Machine that canmeasure pore defects insidedeep holes, such as those ofengine pistons.

Dean David Munson discusses

the Cylinder Bore InspectionMachine with Dr. Reuven Katz The Reconfigurable Machine Tool (2002)

Old Inspection Method

RIM integrated into GM engine production line (2006)Defects are detected by the RIM technologies at the line speed,

and displayed to the operator

Reconfigurable Inspection MachineThe RIM identifies all pore defects

New nspection Method

Visual inspection by anoperator. Hard to find pores

of smaller than 1mm

High-resolution images of the engine block surface are acquired by the RIM at the line speed using a computerizedvision system. The images are then analyzed to detect and measure pores (small pits < 1mm on the surface, resultingfrom casting). In 2006 General Motors installed our in-line surface porosity inspection system at its Flint, Michiganengine plant. The inspection system was integrated into the production line, with a conveyor moving all engineblocks through this station. Using our technology, GM prevents defective parts from reaching customers. Before ourRIM was installed, an operator visually inspected each block at the line rate (20 seconds/engine block).


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How many of us have the opportunity of transforming a whole field and see the results in our lifetime ?

-

Steve Director, CoE Dean, in a speech to the NSF site visit team, May 2004

In 1999, Koren introduced at the CIRP General Assembly the main concepts of RMS. Today this keynote paper has1,200 citations. In addition to creating reconfigurable manufacturing and defining its core characteristics andprinciples, Koren also holds 7 US patents on reconfiguration system and machine technologies. Under Korensleadership the ERC built the best manufacturing research infrastructure in the U.S. (photo below).

The physical manufacturing infrastructure developed by the ERC-RMS is unique in the US.No other university has space and experimental equipment like it, and it is one of the best in the world.

- the NSF final report evaluating 11-year activity of the ERC-RMS (May 2007)

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ERC REVIEWS BY NSF From 1997 to 2007, a team of experts from academia and industry made annual two-day onsitevisits to the ERC. The final NSF site visit was in May 2007, summarizing 11 years of NSF financial support.

Twenty-five manufacturing firms were contributing members of the ERC-RMS (among them Chrysler, Ford, GM,

Cummins, Caterpillar, Boeing, control vendors and machine builders). The Center received very generous financialsupport from industry from 1996 through December 2010.

During the Centers lifetime it received close to $48 million from government and industry sources. Many of the toolsit created are used in manufacturing plants around the world today. Koren is widely considered the father ofreconfigurable manufacturing systems - an innovation that enables factory floors to react quickly and intelligently inresponse to market demands or unacceptable product quality issues.

There is a strong evidence of the effectiveness of both the vision of the Center Directorand the ability of the director to execute the vision. the NSF final report evaluating 11-year activity of the ERC-RMS (May 2007)




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Manufacturing Automation

Since the late 1960s Koren has developed innovative control methods for NC machine tools aimed at enhancingtheir precision and increasing productivity. In a series of 20 papers published between 1970 and 1982 Koren laidthe intellectual foundations for precise control of CNC (computer numerically controlled) machines and largemanufacturing systems. CNC machine tools form the backbone of producing high-precision parts, such as automobileengines and transmissions, turbine blades for jet engines, and various aluminum parts for the aerospace industry.Before Korens pioneering work in the 1970s, numerical control of machine tools was more an empirical craft than ascience. His research on the synthesis and analysis of CNC systems established a scientific approach to the controlof machine tools and manufacturing systems. Many of todays CNC systems in industry make use of the tools Korendeveloped in the course of his extensive research.

CNC interpolators coordinate the motions of theseparately-driven perpendicular machine axes, such thatthe tool cuts non-linear curves. To cut a circle, for example,the interpolator generates X and Y velocity commands thatare proportional to sin(wt) and cos(wt). In 1976 Korenpublished the first scientific paper about CNC interpolatoralgorithms (IEEE Trans. on Computers). Later, Koren andhis students introduced interpolation algorithms thatgenerate 3-D complex surfaces, including cutter radiuscompensation and path segmentation (see sketch).

The CNC-AC control computer was HP-2100 a 16-

bit computer with a 4K memory, and cycle time 1ms.

The computer runs the AC program, the CNC

interpolator, controllers for three axes, and measures in

real-time signals a force sensor mounted on the spindle

In 1973, long before computers were commonly used inindustrial applications, Koren invented the world's firstcomputerized real-time adaptive controller (AC) for amilling machine. This adaptive control concept involvesletting the machine controller calculate the most productivespeed during processing. This pioneering technology laidthe foundation for an effective means of controllingprocesses a technology still widely used in industry. Later,Koren applied the AC algorithm to turning, grinding, ECG,and other machining processes.

Adaptive Control

Koren demonstrates the CNC-ACMilling Machine

McMaster University, Canada, 1973

CNC Interpolators

Actual tool pathProgrammed cutter center path

Tool-path directionOffset by

cutter radius

Cutter

HP-2100Computer

Controller

xy

z

r




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Cross-Coupled Control

In 1980, Koren invented the cross-coupled control (CCC) method. The CCC method enhances the part precisionof CNC systems and thereby produces higher-precision parts that consequently contribute to generating better

products. As seen in the experimental result below, applying the CCC algorithm enhanced the precision from 40mto 10 m. Moreover, the CCC method enhances precision not through additional investment in hardware, but rathersolely by coordinating motion by means of software. Machine builders have been implementing this method since the1980's.

As seen in the graph above, for the first 20 years after its publication in 1980, Koren's CCC paper did not receive muchattention. From 2000 on, the paper became popular. The CCC method has served as the basis for Ph.D. dissertationsat numerous universities. Its concepts have been applied not only to machine control, but also to new applications,such as coordinating the motion of helicopters, robotics, communications systems, and learning control.

ERROR (m)

Conventional Control

Cross-Coupling Control

x

z

y

Experimental results of CCC and conventionalcontrol when cutting a cone

In a $1-million project awarded to Prof. Koren by NIST in 1994,he and his team built a Smart Tool for a boring station. The

station had to machine precise (50m), long holes (60 cm) inengine blocks, when controlling only the Z-motion. The SmartTool had to perform X and Y compensations in real-time.

The Smart Tool on-line compensation mechanism relied ontool-tip servo with piezoelectric actuator. X-Y errors weremonitored by an internal cutting force sensor, and two internallaser beams. The Smart Tool contained a computer and datatransmitter to coordinate the tool X-Y axes with the machine

Z-axis using a cross-coupled controller. The machine was builtand operated successfully

Smart Tool

Laser Diode

Beam Splitter

Mirror

Laser Detectors

Strain Gages

FlextureMechanism

FinishingCutter

RoughCutter

Piezoelectric Stack

Capacitance Sensor

Guide Pads

Lever

Google Scholar citation graph of the CCC paper




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During the same period, Koren continued to build robots and patentedhis inflatable robot invention (supported by NASA). The inflatable armlinkages were intended for deployment in hostile and confined spaces.The inflatable robot arms can achieve the required load-bearing capacityand rigidity by selection of the appropriate size and pressure. The linksof the robot are made of thin film material and are inflatable by air oranother gas. This robot could prove useful for surveillance and resourceoperations or in areas difficult to access in buildings.

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As an extension of his research on automation, in 1978 Koren started inIsrael to develop robot arms to perform repetitive tasks in industry. Later,at U-M in 1988 he and his colleagues made the worlds first mobile robot CARMEL that was able to detect and avoid unexpected obstacles whilemoving (Watch on Youtube: CARMEL Robot on CNN).

Inflatable RobotPatent #5,065,640

1991

July 1988: Koren and CARMELon CNN's nationally televised

program Ahead

In 1991, Koren received a large NSF grant to develop a snakerobot. He and his graduate student, Yansong Shan, studiedsnake motion in order to build the worlds first mechanicalsnake robot that moves without wheels (IEEE, 1993).Outfitted with a camera, it was designed to worm into crevicesto aid in searches for earthquake victims. This pioneering workinspired research on snake robots at many universitiesworldwide.

Robotics

World s First Snake Robot1992

_ _ y g



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Rehabilitation Robotics

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Since the early 1980s Koren developed innovative robotic devices to assist persons with disabilities and contributeto their sense of well-being. Koren applied his knowledge in adaptive control to develop together with his Ph.D.student Aaron Bar a computerized adaptive knee prosthesis [J. Biomedical, 1983]. In 1984 Koren and his student

Johann Borenstein developed a mobile Nursing Robot with robotic arm to assist bedridden persons. The Nursing

Robot and the CARMEL navigation method laid the foundations for the invention of the NavChair a wheelchairequipped with ultrasonic sensors. David Bell, Korens Ph.D. student, developed adaptive algorithms that estimate theusers ability to respond to joystick control. The result was the worlds first adaptive wheelchair.

CARMEL garnered the attention of CNN and other media, and increased the public interest inrehabilitation robotics. - Provost Phil Hanlon, March 27, 2012

Based on the CARMEL method, Koren, Borenstein and their student Shraga Shoval developed the NavBelt a user-worn obstacle avoidance device that guides blind users around obstacles by means of audio signals.

Earphones

CPU

UltrasonicSensors

The NavChair, 1983

The NavBelt, 1993Guides blind around obstaclesNursing Robot, 1984

Bring me a magazine



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Three Ideas That Could Change the World (for the better)

But Koren still has DRE MS that have not been realized. He still has big ideas.- Nicole Casal Moore, UM Record, March 19, 2012

The NavChair control is based on using the wheelchair's sensor information to alter the wheelchair userscommands by applying the adaptive control algorithms that Koren applied to control machines. Combiningcontrol and modeling theory with human behavioral science will create a new research discipline Adaptive AssistiveDevices that will make the devices more adapted to their individual users needs.

Koren with his students, Matt and Nathan, builtan innovative Sit-toStand Assistive device (2011)A self-elevating wheelchair,Korens Project, 2009

1. Adaptive assistive devices: for rehabilitation, for older adults, and for the people with disabilities

2. Open-architecture personalized products an engineering-business strategy to create local jobs

3. Technology for Peace grassroots cooperation among international students to creates peace

1. Adaptive Assistive Devices

The block diagram depicts the concept. Usingsensors (e.g., heartbeat, arm-reach) as well asconstraints given by the care-givers, thecontroller automatically acquires knowledgeabout the users ability and constraints, andchanges the users commands according to theacquired knowledge, so the user is safe.

Hand-operated exercise bicycle (2012)



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DsfbufOfx-HppeMpdbmKpct"

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2. Open-Architecture Personalized Products

In an Open-Architecture Product (OAP), components can be added to the original structure platform. The iPhone,introduced in 2007, has an open-architecture software platform that allows Apps to be added. OAPs that offer theoption of adding hardware components can create new and good jobs, as follows:

The Original Equipment Manufacturer of an open-architecture product builds a platform to accommodate1the product's main functions and establishes interface standards that enable potential developers tointegrate their innovative hardware components

Domestic companies produce the components, thereby creating new local jobs2

Components are integrated into the main product to adapt it to new uses3

The interior of an automobile exemplifies a potential open-architecture product.

In another DRE M Koren envisions reconfigurable car interiors. One person might choose a dogbasket instead of a passenger seat. Another might prefer a refrigerator instead of a back seat.

- Nicole Casal Moore, UM Record, March 19, 2012

Similar to Apple, which delivers the main functions of the

iPhone, GM, for example, will continue to deliver a car withthe main functions engine, steering, etc.

Small enterprises will produce the other units in the sketchon the left, subject to GM interface requirements.

New software tools will be developed to help people design their car

interiors. Not only will the software check geometric constraints andaesthetic concerns, it will also consider psychological issues.



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3. Technology for Peace

The ERC/RMS has had students from 36 countries; from India and Pakistan; Lebanon and Israel; Muslims,Christians and Hindus; all working together in teams that focused on solving technical problems. By workingtogether they learned to respect one another and to see that the person on the other side of the conflict would alsolike to live in peace and prosperity.

A project Koren calls technology cooperation for peace would bring together engineers from warring

nations to work together toward a technological but humanitarian goal, such as improving irrigation.

They would become friends, Koren says. It would be peace from the bottom up. The educator has seen

such unlikely friendships take root in his own lab. Koren has been trying to move these ideas forward for

years now. Perhaps their time is yet to come. Nicole Casal Moore, UM Record, March 19, 2012

The ERC working environment is an

encouraging model: when participantsfrom diverse backgrounds work togetheron joint projects, political and culturalboundaries are bridged.

The concept: Individuals fromcountries in conflict work together oncommon technology projects, thereby

creating cooperation. The ultimateobjective is to achieve peace andresolve conflicts.

The ERC-RMS supported students from 36 countries

PEOPLE WHO HAVE GOOD JOBS WANT TO LIVE IN PEACE



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Mr. Aleksander Kwasnieski, former president of Poland (1995-2005), visited the ERC in 2006 to learn about modernmanufacturing (in terms a politician can understand) andfound himself also learning about peace. Our students, AftabKhan (Muslim from Pakistan) and Niresh Agarwal (Hindu fromIndia), worked as a coherent team. How come? he asked. Theanswer: We discuss only technical issues, and we becamefriends.

Koren made two attempts to propose an action plan:In 2002, Elizabeth Cheney (yes, the daughter of ) was appointed Deputy Assistant Secretary of State for Near1Eastern Affairs. One of her objectives was to promote peace initiatives. At that time Dr. E. Shakour was a professor

at Mar Elias Educational Institutions, Ibillin, Israel, and had connections to universities in Jordan and Bethlehem.

Koren and Shakour proposed to Cheneys Department establishing mixed teams composed of Israeli, Jordanian

and Palestinian students to work on agricultural projects. Their project was declined.

At a presentation to NSF in 2004, Koren proposed the establishment of a new type of NSF Center, to be known2

as Cooperative Education & Research Centers for Science & Technology Embracing Peace (STEP). Koren held

a serious discussion with Arden L. Bement, NSF Director, and NSF Assistant Directors for Engineering,

Education, Social Sciences, and other relevant areas. Their conclusion was that the NSF should add this conceptas a component to existing NSF Centers. Koren saw it as a kiss of death for his proposal.

Was this a case of bad timing? Perhaps the time for this initiative is yet to come.

Imagine all the people living life in peace...

You may say I'm a dreamer

But I'm not the only one. John LennonThe Beatles

PEOPLE WHO LIVE IN PEACE WANT TO HAVE GOOD JOBS



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Professors at universities Leaders in IndustryMoshe Shpitalni Technion, Israel

Oren Masory Florida Atlantic University

Moshe Shoham Technion, Israel

Johann Borenstein University of Michigan

Chih-Ching Lo Feng Chia University, Taiwan

Rong-Shine Lin National Chung Cheng UniversityShraga Shoval Ariel University, Israel

Sungchul Jee Dankook University, Korea

Byung-Kwon Min Yonsei University, Korea

Valerie Maier-

SperedelozziUniversity of Rhode Island

April Bryan University of West Indies, Trinidad

Oben Ceryan Drexel University, Philadelphia, PA

Aaron Bar Orthofeet, NJ

Yansong Shan Coolex, Inc., CA

Lijiang Larry Feng Cisco, TX

Tom Weber Webertech, WY

George ONeal TRW, CA

Catherine Ling General Motors, MI

Ilkiu Huh Samsung, NY Patrick J Spicer General Motors. MI

Gil Abramovitch General Electric, NY

Li Tang Bank of America, NC

YuanHung Kevin Ma Teco Group, Taiwan

Selin Kurnaz Ernst & Young, NY

Vijay Srivatsan Bloom Energy, CA

Xiaowei William Zhu Travelers Indemnity Co., CT

Korens Ph.D. Students

Camera Obstacles

Moshe Shoham (left), Korens Ph.D. student,invented a spine surgery robot that is shown to

B. Netanyahu, Israel Prime Minister, andP. Lavi, Technion President, 2012

Alon Wolf, Shohams Ph.D. Student (Korens

academic grandson) demonstrates his snakerobot to President Obama, 2013

Koren and his Ph.D. Student

Yansong Shan demonstrated theworlds first snake robot, 1992



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with Moshe Shpitalni, Korens 1st Ph.D.student (Dean of the Technion Graduate

School, 2006 - 2012)

with Johann Borenstein and CARMEL

in 1987 Yoram founded the UM MobileRobotics Lab. His IEEE seminal paper,The Vector Field Histogram (CARMEL

technology) has 1600 citations, the highestcitation score among his published papers.

J. Borenstein in the Dedication Ceremony of

Koren Conference Room

Oren Masory (right), Korens Ph.D. student,demonstrates CNC simulation for Dr. Gene

Merchant. Technion, 1977

Rong Shine Lin, a professor at National

Chung Cheng University, Taiwan atKorenFest, May 2007 (see page 25)

...with Byung-Kwon Min at Korens office(2002). Min is now a Professor at Yonsei

University in Korea

Sungchul Jee, Korens Ph.D. Student,professor at Dankook Univ. Korea.

Valerie Maier-Speredelozzi, KorensPh.D. Student, a professor at the

University of Rhode Island

Tom Webber, Korens Ph.D. student,

is a renown industry entrepreneur



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A number of Korens former students reports that twenty years

after graduation they keep his books within reach at their desks

because they consult them regularly.- Provost Phil Harlon, March 27, 2012

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Korens Books

Korens first book,Numerical Control of Machine Tools, describes

various NC sub-systems for professionals. His second book,

Computer Control of Manufacturing Systems, 1983, is a textbook

and summarizes his pioneering research from 19701982.

Numerous universities worldwideadopted this book as the standard

textbook on this topic, and today, 30 years after its publication, it is

still being published and studied. Tens of thousands of students

have learned about the scientific aspects of CNC from this book.

Korens book Robotics for Engineers (1985,McGraw Hill) is perhaps the first book thatelaborated on the mathematical principles of ofrobot arms. It was extremely popular in the first

years after its publication, and was translated bythe publisher into Japanese and French.

Published in 1983 byMcGraw Hill, NY

Published in 1978 byKhanna

Published in 1985 by McGraw Hill, with translations

into Japanese and French

Robotics for Engineering

The Global Manufacturing Revolution, published by Wiley

in 2010, is the textbook used in the graduate course onGlobal Manufacturing initiated by Koren in 1995. The bookproposes engineering technologies and strategies that canincrease an enterprises speed of responsiveness to volatilemarkets. The mathematical tools, theories and case studiesin this volume are invaluable to engineers who wish topursue leadership careers in the manufacturing industry aswell as to business school students who are motivated tolead enterprises.

The Global Manufacturing Revolution

is the first book to focus on:

Impact of globalization onenterprisesReconfigurable manufacturingIntegration of product design,the manufacturing system, andbusiness issues

SME Textbook Award, 1984

Dori Book Award, 1985



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The Dreams of Manufacturing Science Giants

Dr. Eugene Merchant's contribution to modern manufac-turing is legendary. In the early 1940's he developed thebasic theory of metal-cutting, which made it easier forengineers to determine the type of tooling needed toprovide the optimum cut and how to regulate the powerneeded to make a cut. His theory is still considered the bestavailable for explaining the machining process

Eugene Merchant, Alina, Helen Merchant and Yoram, 2001

Professor Shien-Ming (Sam) Wu pioneered theinsertion of real-time statistics into practicalmanufacturing systems, thereby enhancingproduct quality. In the late 1980s the bodyprecision of the Big-Three automobiles was 6 to8 mm, where the precision of some foreignautomobiles was 3 to 5mm

Yoram and Alina (left), Sam and Daisy Wu (right), Madison WI, 1975

Eugenes DREAM in the late 1950's was to developcomputer-integrated manufacturing systems, whichhas become the standard operating practice formanufacturers all over the globe.

Why only 2 mm and no better? Yoram asked him. We can achieve 2 mm by improving the production methods, heanswered. A reduction below 2 mm is not achievable by improved production, but by other means. Professor Wusdream was based on engineering principles. But Prof. Wu died before his dream could be realized. His dream wasrealized by his students, who were assisted by industry leaders, including Gary Cowger and Dwight Carlson.

Sams DREAM was to achieve a precision ofless than 2 mm for the auto bodies of USautomobiles, rather than the current 6 to 8mm (in 1988).

Leaders inspire others to dream



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The RMS Dream Team

Inauguration of the RMS testbed, 1998(L to R) Galip Ulsoy, Yoram Koren,

U.S. Senator Spencer Abraham, CoE Dean Steve Director

The ERC-RMS is the first ERC that the CoE won. This is a milestone in the College history!

- Former CoE Dean Steve Director in the celebration of 150 years of engineering at U-M, 2004

Koren with ERC Deputy Director Galip Ulsoyat the ERC-RMS inauguration, July 1996

(See page 25 how Koren and Ulsoy met)

2005



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... with Kon-Well Wang (ME Chair) and PanosPapalambros (ME Chair, 199298)

ME Faculty working at the ERC/RMS

Standing (L to R): Wencai Wang, Jack Hu, Albert Shih, Elijah Kannatey-Asibu, Jun Ni. Sitting (L to R): Galip Ulsoy, Yoram Koren, Dawn Tilbury

Galip Ulsoy was ERC Deputy Director from 1996 - 2002, and 2006 - 2007,Jun Ni was ERC Deputy Director from 2003 - 2005.

Stephen Malkin, U-Mass Distinguished ProfessorEmeritus, NAE Member and Koren's close colleague

with Mike Molnar of Cummins;now Chief Manufacturing Officer, NIST

...with Zbigniew Pasek (standing left), James Moyne (standingright), Judy Jin (sitting left) and Amy Cohn (sitting right)



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The ERC has created a working environment, which has impacted a slow moving industry.

19

Industry Friends

Meetings with industry members were held twice a year

ERC-RMS Industry Meeting, 2004

ERC-RMS Executive Committee, 2006Standing (Left to Right): John Schweikert (Executive Director, GM ), Mark Blair(Director, Ford), Robert Swanson (Director, MEDC),Larry Seiford (IOE Chair).

Seated(Left to Right): Rick Collins (Director, Chrysler), Susan Smyth ( Chief

Scientist of Mfg, GM), Yoram Koren (Committee. Chair), Stephan Biller (GM, nowat GE), David Munson (Dean, UM CoE)

with Jacques Nasser (right),

former President, Ford Motor Co., 2000

- Industry Report to NSF, 2002



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Presenting RMS research for former UM PresidentJames Duderstadt. (On the left Pat Spicer, Korens

Ph.D. student, now at General Motors.)

NAE members Yoram Korenand Don Chaffin (right),welcome new NAE members,Gary Cowger (GM, center left)and Galip Ulsoy (U-M). April

2006.

The RMS Center has held three CIRPsponsored Reconfigurable Manufacturing

Conferences with participants from 40 countries.

International Conferences on

Reconfigurable Manufacturing

Panel at the 1st CIRP-sponsored International Conferenceon Reconfigurable Manufacturing, 2001

Yoram Koren sits between Kiko Harashimi, President of

Honda N. America, and Francesco Jovane, CIRP President...with A Niimi, President of Toyota N. America, at

the 2nd conference on RMS, 2003

...with Roman Krygier, Group VP, Fordat the 3rd conference on RMS, 2005.

170 participants, of which 65 fromU.S. industry

Professor Jim Duderstadtserved as Dean of theCollege of Engineering

1981- 1986, and as UMpresident 1988-1996.

Homer Neal,

U-M Interim President 1996-97,visits the ERC-RMS



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Korens Honors and Awards

NAE Member, 2004 University of Michigan DistinguishedUniversity Professor, 2010 Merchant Medal by ASME SME, 2006

SME Gold Medal, 2007Hanasufa OutstandingInvestigator Cup, 2004

CIRP Fellow 1985SME Fellow 1987ASME Fellow 1990IEEE Life Fellow 2013

William Ennor Award, 1999

Paul G. Goebel EndowedProfessor of Engineering, 1993CoE Excellence in Research

Award 1992

CoE Attwood Award 2008



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Distinguished University Professor, 2010

The DUP recognizes exceptional scholarly and creativeachievements. The University of Michigan has amaximum number of 50 DUPs that are selected by the

Provost. In 2011 the U-M College of Engineering (that

includes 350 professors) had six DUPs.

Attwood Award, 2008

The Stephen Attwood award is the highesthonor of the College of Engineering at the

University of Michigan. The award recognizes:Extraordinary achievements that have broughtdistinction to the College and University.

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Election to the National Academy ofEngineering, 2004

with UM President Mary Sue Coleman (left) inauguration as James J.

Duderstadt Distinguished University Professor of Manufacturing, 2010

...with the College of Engineering Dean, DaveMunson at the Attwood Award ceremony--

Korens inauguration as an NAE Member

(l - r) W. Wulf, NAE President, Y. Koren, and

C. Barrett, NAE Chair and CEO of Intel Corp.

Provost Phil Hanlon introduces Koren before hisDUP Lecture On Dreams and Timing on March 27, 2012

The Provosts quotations in this booklet are taken from his introduction

and are based on letters received for Korens DUP nomination.



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In honor of Yoram, Prof. Galip Ulsoy organized a splendid festival after the last NSF site visit

in May 2007. Colleagues talked about Yoram for hours, before attending an enjoyable dinner.

W hat do you think about Yorams party?

For five hours I listened to how good Yoram is, I almost started to believe - Alina Koren

I know that one important factor in Yorams success is that he has a wonderful boss and companion that is Alina.In fact, Yoram told me many times that Alina is his Strategic Advisor who always keep him on the right path.

Kon-Well Wang, Timoshenko Professor and Chair of Mechanical Engineering

A true leader in research is someone who creates a new research field that others follow. Prof. Koren is such a leader.He conceived the Reconfigurable Manufacturing Systems that became a major research field. His 1999 CIRPkeynote paper Reconfigurable Manufacturing Systems has over 1,000 citations.

Jack Hu, Anderson Professor of Manufacturing and Associate Dean of Engineering

My Ph.D. research at Illinois built off Yorams Cross-Coupled Control original approach (see page 6). Following thepresentation of my work at a conference, was one notable comment coming from an individual in the audience. Thesession chair asked me if I know the person. I said I did not. He informed me it was Yoram Koren. I must admit atthat time I felt as though I had had a rock star in the audience.

Kira Barton, Assistant Professor of Mechanical Engineering

Remarks at Koren Conference Room Dedication Ceremony, 2012

Koren Fest, May 2007

Front to Back and Left to Right:Yoram Koren, Alina Koren, Galip Ulsoy

Elijah Kannatey-Asibu, Bruce Kramer,Jeff Stein, Daisy Wu, Jun Ni

Mike Molnar, Jamie Hsu , Dave Dornfeld

Burak Ozdoganlar

Rich Furness, Jyoti Mazumder, StephenSeagall, Jan Shi



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Ribbon Cutting Ceremony Opening the Koren Conference Room(L to R): Jack Hu, Galip Ulsoy, Dave Munson, Alina Koren,

Yoram Koren, Panos Papalambros and Kon-Well Wang

Students having a project meeting in Koren Conference Room

Yoram and Alina Koren Conference Room

In the mid 1970s Professor Koren had alreadypublished high-impact papers on flank wearestimation, on the design of drives for CNC, and thefirst scientific paper on interpolators for CNCmachines (IEEE Trans. Computers, 1976). And hehad started writing his book Computer Control ofManufacturing Systems a classic textbook, still widelyused today.

These would be amazing accomplishments foranyone over an entire career. What is even moreamazing is that this was only the beginning. You willhear from other speakers how he went on to doequally amazing things in reconfigurable

manufacturing, and in robotics.

Galip Ulsoy, Distinguished University Professor



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1980: Alinas Advice and Jim Duderstadts Letter

In 1980 the Korens reached a critical juncture in their life. Here is Yorams story:"I was entitled to a sabbatical from the Technion, and in January I toured four potential places to spend my

Sabbatical. By April I had four written offers, and I had to decide. The most generous financial offer was from

the legendary CEO of Unimation, Joe Engelberger (the inventor of the PUMA robot), who wanted me to

implement CNC technologies in his new generation industrial robots. The three academic offers were from

Dave Pratt (ME Chair, U-M), from Carnegie Mellon University (that initiated its robotics center in 1980), and

from RPI (the best financial offer of the three universities). The offer from U-M was for an endowed chair:

Visiting Paul Goebel Professor of Engineering. Fortunately, I live with an exceptional strategic advisor (Alina),

who suggested that I accept the U-M offer. In August 1980 we came to Ann Arbor (for one year).Dave Pratt suggested that I cooperate with a new Assistant Professor (who had also joined the department in

August 1980) on real-time adaptive control for machines. 'His name is Galip Ulsoy,' Dave said. Both Galip and

I listened to Dave, and we have been collaborating since then.

In the spring of 1981 James Duderstadt was appointed Dean of Engineering and revolutionized the College.

I was granted a one-year leave of absence from the Technion and stayed until October 1981. Jim was concerned

about the migration of manufacturing and robotics technology to Japan, and in 1981 he established the Center

for Robotics and Integrated Manufacturing, directed by Dan Atkins. CRIM had three divisions:

Robotics (Director: Dick Volz)1

Integrated Design and Manufacturing (Director: Yoram Koren)2

Manufacturing Operations (Director: Dick Wilson)3

Jim Duderstadt took me to visit local manufacturing industries, where he was treated like a king. After my

return to Israel, Jim wrote me (October 19, 1982):

'I want to express my personal gratitude for the outstanding contributions you have made over the last two

years. You played a very major role in determining the intellectual thrust and providing the leadership sonecessary to get our CRIM off the ground. The leadership and energy you provided to this effort has given it

strong momentum. I must say that I learned a great deal about manufacturing from conversations with you.

I would hope that you would keep us in mind in the future. If there should be a possibility that you might

be able to visit us once again, please don't hesitate to let us know immediately.'

I did.



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Shlomy and his wife Rily are exemplary parents who educate theirthree children quietly but firmly. They live in Tamarindo, CostaRica. Shlomy is the chef and owner of his own restaurant,Seasons by Shlomy, the best restaurant in the area. The entirefamily speaks English, Spanish, and Hebrew. Shlomy also speaksfluent French he graduated from the Cordon Bleu in Paris.

Asi attented Tappan Middle School in Ann Arbor, Michigan,before returning on her own, at age 15, to Israel, where shefinished high-school, with high grades. Right afterward she wasdrafted and proudly served in the Israeli army for two years,during which she reached the rank of sergeant, and was awarded

an Outstanding Soldier certificate an honor granted only to veryfew soldiers. Today she maintains a home in northern Israel for

women suffering from addiction and other maladies.

Rony, Mayan, Rily, Eytan, and son, Shlomy, in Costa Rica

with daughter Asi (Esther)

Korens Family

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AlinaStrategic Advisor

Alina was a high school teacher and a Lecturer at universities in Israel andat the University of Michigan.

Yoram has a B.Sc. (1965) and M.Sc. (1968) in Electrical Eng. and a D.Sc. (1971)in Mechanical Engineering (Advisor: Prof. Ehud Lenz) Technion, Israel Institute of Technology

Yoram Korens website: http://sitemaker.umich.edu/ykoren/home

College of Engineering, the University of Michigan

April, 2014

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